SBIR-STTR Award

Scalable and Distributed Inertial Navigation Systems
Award last edited on: 7/10/2020

Sponsored Program
STTR
Awarding Agency
NASA : ARC
Total Award Amount
$879,969
Award Phase
2
Solicitation Topic Code
T4.01
Principal Investigator
David L Carroll

Company Information

CU Aerospace LLC

3001 Newmark Drive
Champaign, IL 61822
   (217) 239-1703
   cuaerospace@cuaerospace.com
   www.cuaerospace.com

Research Institution

University of Illinois - Champaign

Phase I

Contract Number: 80NSSC18P2132
Start Date: 7/27/2018    Completed: 8/26/2019
Phase I year
2018
Phase I Amount
$124,990
Current state of the art inertial measurement units (IMUs) co-locate a set of accelerometers and gyroscopes into a single package. CU Aerospace (CUA), in partnership with the University of Illinois, propose to develop a scalable and distributed IMU for space robotics and CubeSat applications. The user can choose to include an arbitrary number of inertial sensors beyond the minimal number of sensors required for inertial navigation (3 gyroscopes and 3 accelerometers). This scalability enables both improved measurement resolution and system redundancy. The distributed nature of the system means that sensors can be placed arbitrarily by the user as needed in their design, under the constraint that each axis is measured by at least one accelerometer and gyroscope. This technology enables space-constrained systems to leverage redundant inertial sensors for fault detection and isolation (FDI). Beyond the systems engineering benefits of this system, distributing the sensors is grounded by previous research that suggests it will reduce the total noise of its output measurements. This technology can potentially be used in most robotic systems currently using an inertial navigation system. However, the best applications of this technology are in space constrained robots that can benefit from accurate state estimates or fault tolerant systems. Potential NASA Applications Distributed and scalable inertial measurement units can enable missions where MEMS components are failure prone. The technology provides emerging areas of CubeSat robotics and assembled structures with flexible in system layout. This technology can be used to reduce sensor noise while efficiently using space for human assisted robots aboard the international space station and or on autonomous or human assisted terrestrial rovers. Potential Non-NASA Applications The best applications of this technology, however, is in space constrained robots that can benefit from accurate state estimates or fault tolerant systems. For example, in the natural gas industry, improved state estimates will translate into a better ability to pinpoint the location of problems prior to the excavation of a pipeline. Our concept can also improve pedestrian location technology by leveraging IMUs on multiple wearable devices for dead reckoning.

Phase II

Contract Number: 80NSSC20C0020
Start Date: 12/18/2019    Completed: 12/17/2021
Phase II year
2020
Phase II Amount
$754,979
Current state of the art inertial measurement units (IMUs) co-locate a set of accelerometers and gyroscopes into a single package. CU Aerospace (CUA), in partnership with the University of Illinois, propose the continued development of a scalable and distributed IMU (DSIMU) for space robotics and CubeSat applications. The user can deliberately choose a number of inertial sensors beyond the minimal number of sensors required for inertial navigation. This scalability enables both improved measurement resolution and system redundancy. The distributed nature of the system means that sensors can be placed arbitrarily by the user as needed in their design, under the constraint that each axis is measured by at least one accelerometer and gyroscope. This technology enables space-constrained systems to leverage redundant inertial sensors for fault detection and isolation (FDI), jitter on a spacecraft, and angular velocity without the use of gyroscopes. Beyond the systems engineering benefits of this system, distributing the sensors is grounded by previous research that suggests it will reduce the total noise of its output measurements and have important SWaP-C implications for space systems. This technology can potentially be used in most robotic systems currently using an inertial navigation system. However, the best applications of this technology are in space constrained robots that can benefit from accurate state estimates or fault tolerant systems. The primary Phase II technical objectives are to develop a Distributed Inertial Sensor Integration (DISI) Kit including flight-like DSIMU hardware and beta-software for delivery by the end of Phase II. Potential NASA Applications (Limit 1500 characters, approximately 150 words) The distributed IMU technology will provide attitude and position estimates with accuracies not previously achievable without sacrificing significant additional volume and cost, thereby enabling new missions with strict requirements. Provides the volume and capability applicable to the emerging area of CubeSat robotics. Enables missions to areas where MEMS components are failure prone. Improved performance, efficient use of space, and fault tolerance also useful for robots aboard ISS and terrestrial rovers. Potential Non-NASA Applications (Limit 1500 characters, approximately 150 words) Can be used in most robotic systems currently using INS. Best applications of this technology are in space constrained robots that can benefit from accurate state estimates or fault tolerant systems, e.g. small robots for pipe inspection in natural gas industry. Scalable and distributed IMU architecture can be implemented in many wearable electronic devices for better pedestrian dead reckoning.